trapq: Initial support for building a queue of trapezoidal velocity moves

Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 13 insertions, 0 deletions

diff --git a/klippy/chelper/trapq.h b/klippy/chelper/trapq.h
index 15d7b44c..e568a1ab 100644
--- a/klippy/chelper/trapq.h
+++ b/klippy/chelper/trapq.h
@@ -1,6 +1,8 @@
 #ifndef TRAPQ_H
 #define TRAPQ_H
 
+#include "list.h" // list_node
+
 struct coord {
     double x, y, z;
 };
@@ -16,6 +18,8 @@ struct move {
     double cruise_v;
     struct move_accel accel, decel;
     struct coord start_pos, axes_r;
+
+    struct list_node node;
 };
 
 struct move *move_alloc(void);
@@ -27,4 +31,13 @@ void move_fill(struct move *m, double print_time
 double move_get_distance(struct move *m, double move_time);
 struct coord move_get_coord(struct move *m, double move_time);
 
+struct trapq {
+    struct list_head moves;
+};
+
+struct trapq *trapq_alloc(void);
+void trapq_free(struct trapq *tq);
+void trapq_add_move(struct trapq *tq, struct move *m);
+void trapq_free_moves(struct trapq *tq, double print_time);
+
 #endif // trapq.h